Walking Energy Hydraulic Regeneration Potential to Extend the Range of Active Orthotic Exoskeletons

摘要

The potential for powering active orthoses with actuators that have the capability to efficiently recapture the energy of normally resistive walking motions, and reuse it to reduce the overall energy demand and extend the range of assisted walking is investigated here. The actuation methods involve hydraulic actuators and accumulators, since this is the most efficient energy storage and recovery technique currently available. The torque and motions required for a typical walking gait are converted into fluid actuation flows and pressures, and then the fluid energy of resistive motions is captured to help drive needed leg motions. The study results show that a total energy savings of 35% is possible with a simple configuration of hydraulic actuators and hydropneumatic accumulators. Thus, a person would be able to use the device 1/3 longer/farther than a similar device without the regenerative capabilities.